19 citations · 21 across the 9 of their papers we have counts for
9 papers
Rainbow Deep Q-Learning with Kinematics-Aware Design for Cooperative Delta and 3-RRS Parallel Robot Insertion
Hassen Nigatu, Gaokun Shi, Jituo Li +2
This paper presents a kinematics-aware deep reinforcement learning framework based on Rainbow Deep Q-Networks (DQN) for cooperative peg-in-hole manipulation by a Delta parallel rob…
Quantum Machine Learning and Grover's Algorithm for Quantum Optimization of Robotic Manipulators
Hassen Nigatu, Shi Gaokun, Li Jituo +3
Optimizing high-degree of freedom robotic manipulators requires searching complex, high-dimensional configuration spaces, a task that is computationally challenging for classical m…
The Stiffness of 3-PRS PM Across Parasitic and Orientational Workspace
Hassen Nigatu, Li Jihao, Keqi Zhu +4
This study investigates the stiffness characteristics of the Sprint Z3 head, also known as 3-PRS Parallel Kinematics Machines, which are among the most extensively researched and v…
Comparing Z3 and A3 PKM Heads: Which Is Superior and Why?
Hassen Nigatu
This study presents a comparison between the Sprint Z3 and A3 head parallel kinematics machines, distinguished by their joint sequence. The analysis focuses on performance attribut…
Under-actuated Robotic Gripper with Multiple Grasping Modes Inspired by Human Finger
Jihao Li, Tingbo Liao, Hassen Nigatu +3
Under-actuated robot grippers as a pervasive tool of robots have become a considerable research focus. Despite their simplicity of mechanical design and control strategy, they suff…
Theoretical Modeling and Bio-inspired Trajectory Optimization of A Multiple-locomotion Origami Robot
Keqi Zhu, Haotian Guo, Wei Yu +3
Recent research on mobile robots has focused on increasing their adaptability to unpredictable and unstructured environments using soft materials and structures. However, the deter…
Unveiling the Complete Variant of Spherical Robots
Hassen Nigatu, Li Jihao, Gaokun Shi +2
This study presents a systematic enumeration of spherical () type parallel robots' variants using an analytical velocity-level approach. These robots are known for their abi…
Workspace optimization of 1T2R parallel manipulators with a dimensionally homogeneous constraint-embedded Jacobian
Hassen Nigatu, Doik Kim
This paper presents the workspace optimization of one-translational two-rotational (1T2R) parallel manipulators using a dimensionally homogeneous constraint-embedded Jacobian. The…
Dimensionally Homogeneous Jacobian using Extended Selection Matrix for Performance Evaluation and Optimization of Parallel Manipulators
Hassen Nigatu, Doik Kim
This paper proposes a new methodology for deriving a point-based dimensionally homogeneous Jacobian, intended for performance evaluation and optimization of parallel manipulators w…